Package level pydoc for smartbot_irl.utils

smartbot_irl#

Functions#

smartbot_irl.SmartBot

Factory that returns a SmartBotReal or SmartBotSim instance.

Classes#

smartbot_irl.SensorData

smartbot_irl.Command

High-level command for SmartBot.

Function Details#

smartbot_irl.SmartBot(mode: Literal['real'], drawing: bool = False, **kwargs) → SmartBotReal[source]#
smartbot_irl.SmartBot(mode: Literal['sim'], drawing: bool = False, **kwargs) → SmartBotSim

Factory that returns a SmartBotReal or SmartBotSim instance.

Parameters:

  • mode (str)

  • drawing (bool)

Return type:

SmartBotReal | SmartBotSim

Class Details#

class smartbot_irl.SensorData(raw: 'RawSensorData' = <factory>, odom: 'Odometry' = <factory>, scan: 'LaserScan' = <factory>, joints: 'Joints' = <factory>, seen_hexes: 'PoseArray' = <factory>, imu: 'Imu' = <factory>, gripper_curr_state: 'String' = <factory>, manipulator_curr_preset: 'String' = <factory>, seen_robots: 'PoseArray' = <factory>)[source]#

Bases: object

Parameters:

  • raw (RawSensorData)

  • odom (Odometry)

  • scan (LaserScan)

  • joints (Joints)

  • seen_hexes (PoseArray)

  • imu (Imu)

  • gripper_curr_state (String)

  • manipulator_curr_preset (String)

  • seen_robots (PoseArray)

classmethod initialized()[source]#
Return type:

SensorData

flatten()[source]#
Return type:

dict[str, Any]

get_specs()[source]#
Return type:

List[TopicSpec]

to_ros()[source]#
Return type:

dict

gripper_curr_state: String#
imu: Imu#
joints: Joints#
manipulator_curr_preset: String#
odom: Odometry#
raw: RawSensorData#
scan: LaserScan#
seen_hexes: PoseArray#
seen_robots: PoseArray#
class smartbot_irl.Command(wheel_vel_left=0.0, wheel_vel_right=0.0, linear_vel=0.0, angular_vel=0.0, gripper_closed=None, manipulator_presets=None, reset_position=False, remove_bias=False)[source]#

Bases: object

High-level command for SmartBot. Twist and indiv whele control.

Parameters:

  • wheel_vel_left (float | None)

  • wheel_vel_right (float | None)

  • linear_vel (float | None)

  • angular_vel (float | None)

  • gripper_closed (bool | None)

  • manipulator_presets (str | None)

  • reset_position (bool)

  • remove_bias (bool)

to_ros()[source]#
Return type:

dict[str, dict[str, Any]]

angular_vel: float | None = 0.0#
gripper_closed: bool | None = None#
linear_vel: float | None = 0.0#
manipulator_presets: str | None = None#
remove_bias: bool = False#
reset_position: bool = False#
wheel_vel_left: float | None = 0.0#
wheel_vel_right: float | None = 0.0#